/* *  Little Green BATS (2007), AI department, University of Groningen * *  Authors: 	Martin Klomp (martin@ai.rug.nl) *		Mart van de Sanden (vdsanden@ai.rug.nl) *		Sander van Dijk (sgdijk@ai.rug.nl) *		A. Bram Neijt (bneijt@gmail.com) *		Matthijs Platje (mplatje@gmail.com) * *	All students of AI at the University of Groningen *  at the time of writing. See: http://www.ai.rug.nl/ * *  Date: 	July 27, 2007 * *  Website:	http://www.littlegreenbats.nl * *  Comment:	Please feel free to contact us if you have any  *		problems or questions about the code. * * *  License: 	This program is free software; you can redistribute  *		it and/or modify it under the terms of the GNU General *		Public License as published by the Free Software  *		Foundation; either version 3 of the License, or (at  *		your option) any later version. * *   		This program is distributed in the hope that it will *		be useful, but WITHOUT ANY WARRANTY; without even the *		implied warranty of MERCHANTABILITY or FITNESS FOR A *		PARTICULAR PURPOSE.  See the GNU General Public *		License for more details. * *   		You should have received a copy of the GNU General *		Public License along with this program; if not, write *		to the Free Software Foundation, Inc., 59 Temple Place -  *		Suite 330, Boston, MA  02111-1307, USA. * */#ifndef _BATS_GUARDGOAL_HH_#define _BATS_GUARDGOAL_HH_#include "behavior.hh"namespace bats{  /**   *  Behavior: Guard the goal (not so good yet :))   */  class GuardGoal : public Behavior  {    Vector3D d_ballEndPos;    Vector3D d_goalL, d_goalR;    Vector3D d_ownPos;    virtual rf<Goal> generateGoal(unsigned step, unsigned slot);    virtual rf<State> getCurrentState();    /** Get Capability     *     *  @param s Expected state variable: None     *  @param g Expected goal variable: None     *  @returns confidence (0.5, 0.2) when it want to do something (0.0, 0.0) if not.     */    virtual ConfidenceInterval getCapability(rf<State> s, rf<Goal> g);    public:    GuardGoal(std::string const &id, std::string const &playerClass);    virtual void update();  };};#endif